Summary of 3D geometry and pose
lesson
We recap the important points from this lecture.
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Summary of 2D geometry and pose
lesson
We summarise the important points from this lecture.
Quaternions representation of rotation in 3D
lesson
The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.
Velocity of 6-Joint Robot Arm – Rotation
lesson
We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.
Summary of paths and trajectories
lesson
We summarise the important points from this lecture.
Analyzing a 2-joint planar robot arm
lesson
We consider a robot, which has two rotary joints and an arm.